def add_desk(self, scale, loc, euler, color):
names = []
for i in (-1, 1):
for j in (-1, 1):
new_loc = (loc[0] + i * (scale[0] - scale[2]), loc[1] + j * (scale[1] - scale[2]),
loc[2] + scale[2])
names.append(self.add_object("cube", (scale[2], scale[2], scale[2]), new_loc,
convert_euler(euler), color))
names.append(self.add_object("cube", (.04, scale[0], scale[1]), (
loc[0], loc[1], loc[2] + scale[2] * 2 + OCCLUDER_HALF_WIDTH), convert_euler(euler), color))
return names
def log(self, id, motion, mask):
"""log the motion of object id into log"""
bpy.context.view_layer.objects.active = bpy.data.objects[self.obj_names[id]]
obj_mask = np.asarray(mask, dtype=np.uint8, order="F")
mask_code = mask_util.encode(obj_mask)
mask_code["counts"] = mask_code["counts"].decode("ASCII")
scale = [x * y for x, y in zip(self.scales[id], SHAPE_DIMENSIONS[self.shapes[id]])]
shape = "Occluder" if self.scales[id][0] == OCCLUDER_HALF_WIDTH else TYPES[self.shapes[id]]
return dict(mask=mask_code, name=self.obj_names[id], type=shape, scale=scale,
location=motion["location"], rotation=convert_euler(motion["orientation"]),
velocity=motion["velocity"], angular_velocity=convert_euler(motion["angular_velocity"]),
color=self.colors[id])
def __init__(self, config, shape_dir, material_dir, back_wall):
self.shape_dir = shape_dir
self.material_dir = material_dir
self.obj_names = []
self.mask_nodes = []
self.shapes = []
self.scales = []
self.colors = []
self.load_materials()
self.color_name_to_rgba = {}
for name, rgb in COLORS.items():
rgba = [float(c) / 255.0 for c in rgb] + [1.0]
self.color_name_to_rgba[name] = rgba
self.config = config
for obj_params in self.config["objects"]:
shape = obj_params['shape']
scale, loc = obj_params['scale'], obj_params['init_pos']
euler = convert_euler(deg2rad(obj_params['init_orn']))
color = obj_params['color']
name = self.add_object(shape, scale, loc, euler, color)
material = obj_params['material']
split = obj_params['split'] if "split" in obj_params else (0, 0, 0)
self.add_material(name, material, color, split)
if "occluders" in self.config:
for obj_params in self.config["occluders"]:
shape = obj_params['shape']
scale, loc = obj_params['scale'], obj_params['init_pos']
euler = convert_euler(deg2rad(obj_params['init_orn']))
color = obj_params['color']
name = self.add_object(shape, scale, loc, euler, color)
material = obj_params['material']
self.add_material(name, material, color)
if "desks" in self.config:
for obj_params in self.config["desks"]:
scale, loc = obj_params['scale'], obj_params['init_pos']
euler = convert_euler(deg2rad(obj_params['init_orn']))
color = obj_params['color']
names = self.add_desk(scale, loc, euler, color)
material = obj_params['material']
for name in names:
self.add_material(name, material, color)
if back_wall:
desk_name = self.add_back_wall("wall_color")
material = "rubber"
color = "wall"
self.add_material(desk_name, material, color)
def render_intro(om, rendering, m):
render_args = bpy.context.scene.render
time_step = 1 / rendering.fps
phi_s, theta_s = get_intro_camera(
rendering, int(rendering.intro_time * rendering.fps))
for n in range(int(rendering.intro_time * rendering.fps)):
if "ABORT" in globals():
if globals()["ABORT"]:
print("Aborted")
raise KeyboardInterrupt
set_camera(rendering.camera_rho,
theta_s[n],
phi_s[n],
look_at=rendering.camera_look_at)
# objects are before occluders
for i, obj_motion in enumerate(m["objects"] + m["occluders"]):
loc = obj_motion['location']
euler = convert_euler(obj_motion['orientation'])
om.set_position(om.obj_names[i], loc, euler)
i = len(m["objects"]) + len(m["occluders"])
for desk_motion in m["desks"]:
for obj_motion in desk_motion:
loc = obj_motion['location']
euler = convert_euler(obj_motion['orientation'])
om.set_position(om.obj_names[i], loc, euler)
i += 1
image_path = os.path.join(
rendering.output_dir, 'imgs',
'%s_-%05.2fs.png' % (rendering.image_prefix, n * time_step))
render_args.filepath = image_path
bpy.ops.render.render(write_still=True)
set_camera(rendering.camera_rho,
rendering.camera_theta,
rendering.camera_phi,
look_at=rendering.camera_look_at)
def main(config):
# main script
rendering = config.rendering
mkdir(rendering.output_dir)
mkdir(os.path.join(rendering.output_dir, 'imgs'))
mkdir(os.path.join(rendering.output_dir, 'masks'))
mkdir(os.path.join(rendering.output_dir, 'depths'))
mkdir(os.path.join(rendering.output_dir, 'flows'))
clr_dir(os.path.join(rendering.output_dir, 'imgs'))
clr_dir(os.path.join(rendering.output_dir, 'masks'))
clr_dir(os.path.join(rendering.output_dir, 'depths'))
clr_dir(os.path.join(rendering.output_dir, 'flows'))
add_ground(rendering)
# set up render parameters
render_args = bpy.context.scene.render
render_args.engine = 'CYCLES'
render_args.resolution_x = rendering.width
render_args.resolution_y = rendering.height
render_args.resolution_percentage = 100
render_args.tile_x = rendering.render_tile_size
render_args.tile_y = rendering.render_tile_size
if rendering.use_gpu:
if True:
enable_gpus()
render_args.tile_x = rendering.render_tile_size_gpu
render_args.tile_y = rendering.render_tile_size_gpu
else:
# blender changed the API for enabling CUDA at some point
pref = bpy.context.user_preferences.addons["cycles"].preferences
pref.compute_device_type = "CUDA"
for device in pref.devices:
device.use = True
# bpy.context.user_preferences.system.compute_device_type = 'CUDA'
# bpy.context.user_preferences.system.compute_device = 'CUDA_0'
render_args.tile_x = rendering.render_tile_size_gpu
render_args.tile_y = rendering.render_tile_size_gpu
# some CYCLES-specific stuff
bpy.data.worlds['World'].cycles.sample_as_light = True
bpy.context.scene.cycles.blur_glossy = 2.0
bpy.context.scene.cycles.samples = rendering.render_num_samples
bpy.context.scene.cycles.transparent_min_bounces = rendering.render_min_bounces
bpy.context.scene.cycles.transparent_max_bounces = rendering.render_max_bounces
if rendering.use_gpu:
bpy.context.scene.cycles.device = 'GPU'
bpy.context.scene.use_nodes = True
bpy.context.scene.view_layers['RenderLayer'].use_pass_object_index = True
# set up camera
set_camera(rendering.camera_rho,
rendering.camera_theta,
rendering.camera_phi,
look_at=rendering.camera_look_at)
# apply jitter to lamp positions
if rendering.key_light_jitter > 0:
for i in range(3):
bpy.data.objects['Lamp_Key'].location[i] += rand_jitter(
rendering.key_light_jitter)
if rendering.back_light_jitter > 0:
for i in range(3):
bpy.data.objects['Lamp_Back'].location[i] += rand_jitter(
rendering.back_light_jitter)
if rendering.fill_light_jitter > 0:
for i in range(3):
bpy.data.objects['Lamp_Fill'].location[i] += rand_jitter(
rendering.fill_light_jitter)
# set up objects
om = ObjectManager(config, rendering.shape_dir, rendering.material_dir,
rendering.back_wall)
mask_node = set_mask(os.path.join(rendering.output_dir, "masks"))
depth_node = set_depth(os.path.join(rendering.output_dir, "depths"))
flow_node = set_flow(os.path.join(rendering.output_dir, "flows"))
# load motion
with open(rendering.motion_file, 'r') as f:
input_file = json.load(f)
time_step = float(input_file['timestep'])
motion = input_file['motion']
# render it
render_every = int(1 / time_step / rendering.fps)
if render_every == 0:
render_every = 1
camera = dict(camera_rho=rendering.camera_rho,
camera_theta=rendering.camera_theta,
camera_phi=rendering.camera_phi,
camera_look_at=rendering.camera_look_at)
scene_anns = dict(case_name=config.case_name, camera=camera, scene=[])
if rendering.intro_time > 0:
render_intro(om, rendering, motion[0])
for n, m in enumerate(motion):
if n % render_every == 0:
bpy.context.scene.frame_set(n)
# objects are before occluders
for i, obj_motion in enumerate(m["objects"] + m["occluders"]):
loc = obj_motion['location']
euler = convert_euler(obj_motion['orientation'])
om.set_position(om.obj_names[i], loc, euler, key_frame=True)
i = len(m["objects"]) + len(m["occluders"])
for desk_motion in m["desks"]:
for obj_motion in desk_motion:
loc = obj_motion['location']
euler = convert_euler(obj_motion['orientation'])
om.set_position(om.obj_names[i],
loc,
euler,
key_frame=True)
i += 1
for n, m in enumerate(motion):
if "ABORT" in globals():
if globals()["ABORT"]:
print("Aborted")
raise KeyboardInterrupt
if n % render_every == 0:
bpy.context.scene.frame_set(n)
image_path = os.path.join(
rendering.output_dir, 'imgs',
'%s_%06.2fs.png' % (rendering.image_prefix, n * time_step))
render_args.filepath = image_path
mask_base_name = '####_%s_%06.2fs.png' % (rendering.image_prefix,
n * time_step)
mask_node.file_slots[0].path = mask_base_name
depth_base_name = '####_%s_%06.2fs.png' % (rendering.image_prefix,
n * time_step)
depth_node.file_slots[0].path = depth_base_name
for ch in "RGBA":
flow_base_name = '%s_####_%s_%06.2fs.png' % (
ch, rendering.image_prefix, n * time_step)
flow_node[ch].file_slots[0].path = flow_base_name
bpy.ops.render.render(write_still=True)
frame_anns = dict(image_path=image_path, objects=[])
mask_file_path = os.path.join(
rendering.output_dir, "masks",
"{:04d}".format(n) + mask_base_name[4:])
for i, obj_motion in enumerate(m["objects"] + m["occluders"]):
mask = imread(mask_file_path)[:, :, 0] == i + 1
frame_anns["objects"].append(om.log(i, obj_motion, mask))
scene_anns["scene"].append(frame_anns)
bpy.ops.wm.save_as_mainfile(filepath=os.path.join(rendering.output_dir,
"scene.blend"),
compress=True)
write_serialized(
scene_anns,
os.path.join(rendering.output_dir,
"{:s}_ann.yaml".format(rendering.image_prefix)))